Hierarchical Kinematic Design of Foldable Hexapedal Locomotion Platforms

Origami-inspired folding enables integrated design and manufacturing of intricate kinematic mechanisms and structures. Here, we present a hierarchical development process of foldable robotic platforms as combinations of fundamental building blocks to achieve arbitrary levels of complexity and functionality. Rooted in theoretical linkage kinematics, designs for static structures and functional units, respectively, offer rigidity and mobility for robotic systems. The proposed approach is demonstrated on the design, fabrication, and experimental verification of three distinct types of hexapedal locomotion platforms covering a broad range of features and use cases.